logic.py 文件源码

def update(self):
        agents = self.simulation.agents.array
        field = self.simulation.field

        # FIXME: virtual obstacles add too much computational overhead
        # obstacles = geom_to_linear_obstacles(
        #     field.obstacles.buffer(0.3, resolution=3))
        obstacles = geom_to_linear_obstacles(field.obstacles)
        direction_herding = leader_follower_with_herding_interaction(
            agents, obstacles, self.sight_follower, self.size_nearest_other)
        is_follower = agents['is_follower']
        agents['target_direction'][is_follower] = direction_herding[is_follower]

        # Set target direction for herding agents that do not have a target
        # if field.obstacles is None:
        #     agents['target_direction'][is_follower] = direction_herding[is_follower]
        # else:
        #     # Obstacle avoidance
        #     mgrid = field.meshgrid(self.step)
        #     dir_map_obs, dmap_obs = field.direction_map_obstacles(self.step)
        #     indices = np.fliplr(mgrid.indicer(agents['position'][is_follower]))
        #     direction = obstacle_handling_continuous(
        #         dmap_obs, dir_map_obs, direction_herding[is_follower], indices,
        #         self.radius, self.strength)
        #     agents['target_direction'][is_follower] = direction